CK3W Axial Interface Unit CK3W-AX@@@@@ · C CK3W-EXM01 Expansion Master Unit. Connect this Unit adjacent to the right side of the CPU Unit in the Expansion Rack. D CK3W-AX Unit Axis

CSM_CK3W-AX_____DS_E_DITA_2_1

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CK3W Axial Interface Unit

CK3W-AX@@@@@Various encoder interfaces and high-speed multi-axis control by analog commands for precise machine operation

Features• One CK3W-AX Unit controls up to four axes• Analog input servo drives or DirectPWM servo drives can be connected• Digital quadrature encoders, serial encoders, and sinusoidal encoders can be connected as encoder input• 16 digital inputs and 16 digital outputs are built in

CK3W-AX@@@@@


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System ConfigurationsBasic System Configuration

CK3W Unit Configuration (CPU Rack/Expansion Rack)The following shows the configuration of CK3W Units.

CPU RackThe CK3W Unit configuration in the CPU Rack consists of a Power Supply Unit, CPU Unit, CK3W-AX Unit, CK3W-MD Unit, CK3W-AD Unit, and End Cover.Up to four CK3W Units (or up to two CK3W-AX Units) can be connected to the CPU Unit.

Expansion RackOne Expansion Rack can be connected per CPU Unit.To connect an Expansion Rack, use the Expansion Master Unit (CK3W-EXM01) and Expansion Slave Unit (CK3W-EXS02).Up to four CK3W Units (or up to two CK3W-AX Units) can be installed to the Expansion Rack.Connect the Expansion Master Unit (CK3W-EXM01) adjacent to the right side of the CPU Unit. Connect the Expansion Slave Unit (CK3W-EXS02) adjacent to the right side of the Power Supply Unit.Unless the Expansion Master Unit (CK3W-EXM01) is connected adjacent to the right side of the CPU Unit, the Sys.Status register CK3WConfigErr becomes “5”.

Letter Configuration RemarksA Power Supply Unit Input the 24 V power source. Always wire the CPU Rack and Expansion Rack to the same power supply.

B CK3M-series CPU Unit This is the Unit at the center of the motion control, which executes the motion program.

C CK3W-EXM01 Expansion Master Unit. Connect this Unit adjacent to the right side of the CPU Unit in the Expansion Rack.

D CK3W-AX Unit Axis Interface Unit. For axis control, connect this to a Servo Drive and encoder.

E CK3W-MD Unit Digital I/O Unit. You can add 16 digital inputs and 16 digital outputs.

Encoder (Digital quadrature encoder, serial encoder)

Servo drive (analog input type) or Stepper motor

EtherCAT network

Support Software

PLCIndustrialEthernetswitch

Programmable terminal

Ethernet Networks

Modbus-TCP Slave terminal

Servo drive/

Encoder input

slaves

General-purposeslaves

E or F

Power supply

E or F

D

D

I

G

G

H

CB

A

A

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EtherCAT Network ConfigurationThe EtherCAT network configuration consists of a Power Supply Unit, CPU Unit, End Cover, and EtherCAT slaves.Use the built-in EtherCAT port on the CK3M-series CPU Unit to connect EtherCAT slaves.

EtherCAT is synchronized with the servo cycle of the CK3M-series CPU Unit. This enables acquisition of the I/O data of slave terminals that are synchronized with the servo cycle.

F CK3W-AD Unit Analog Input Unit. You can add 4 or 8 voltage inputs.

G End Cover Must be connected to the right end of the CPU Rack and Expansion Rack. The CPU Unit and the Expansion Slave Unit are each provided with one End Cover.

H CK3W-EXS02 Expansion Slave Unit. Use this in the Expansion Rack. Connect this Unit adjacent to the right side of the Power Supply Unit.

I Expansion cable Use this cable to connect the Expansion Master Unit and the Expansion Slave Unit. The cable length is 30 cm. Be sure to use the CK3W-CAX003A (30 cm) cable.

Letter Configuration Remarks

Slave terminal

EtherCAT slaves

Servo drive/Encoder input slaves

General-purpose slaves


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Ordering InformationAxial Interface UnitThe models and outline of specifications are given below.

Dedicated Cable for Wiring to Encoder Connector

Note: The encoder connection side has discrete wires. Wire in accordance with the encoder specifications.

Dedicated Cable for Wiring to Amplifier Connector

Note: The amplifier connection side of the CK3W-CAA03A Cable has discrete wires. Wire in accordance with the servo drive specifications.

Product name Amplifier interface Encoder interface Output type Model

Axial Interface Unit

DirectPWM output

Digital quadrature encoder/serial encoderNPN type

CK3W-AX1313N

DA output (Filtered PWM) CK3W-AX1414N

DA output (True DAC) CK3W-AX1515N

DirectPWM output Sinusoidal encoder/serial encoder CK3W-AX2323NDirectPWM output

Digital quadrature encoder/serial encoderPNP type

CK3W-AX1313P

DA output (Filtered PWM) CK3W-AX1414P

DA output (True DAC) CK3W-AX1515PDirectPWM output Sinusoidal encoder/serial encoder CK3W-AX2323P

Type Cable length ModelFor digital quadrature encoder 3 m CK3W-CAED03A

For sinusoidal encoder 3 m CK3W-CAEA03A

For serial encoder 3 m CK3W-CAES03AFor "digital quadrature encoder + UVW signal" or "digital quadrature encoder + serial encoder" 3 m CK3W-CAEW03A

For "sinusoidal encoder + UVW signal" or "sinusoidal encoder + serial encoder" 3 m CK3W-CAEAW03A

Type Cable length Model

For FilteredPWM/TrueDAC type 3 m CK3W-CAA03A

For DirectPWM type

0.9 m CK3W-CAAD009A1.8 m CK3W-CAAD018A

3.6 m CK3W-CAAD036A

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CK3W Axial Interface UnitGeneral SpecificationsThis section describes the Motion Controller specifications.

Axis Interface Unit SpecificationsThe main specifications for axis interface are given below.

CK3W-AX1414@/-AX1515@

CK3W-AX1313@/-AX2323@

Item Specification

Enclosure Mounted in a panel

Grounding Method Ground to less than 100 Ω.

Operating Environment

Ambient Operating Temperature 0 to 55°C

Ambient Operating Humidity 10% to 95% (with no condensation or icing)

Atmosphere Must be free of corrosive gases.

Ambient Storage Temperature -25 to 70°C (with no condensation or icing)

Vibration Resistance

Conforms to IEC 60068-2-6.5 to 8.4 Hz with 3.5-mm amplitude,8.4 to 150 Hz, acceleration of 9.8 m/s2100 min each in X, Y, and Z directions (10 sweeps of 10 min each = 100 min total)

Shock Resistance Conforms to IEC 60068-2-27.147 m/s2, 3 times each in X, Y, and Z directions

Insulation Resistance 20 MΩ min. between isolated circuits (at 100 VDC)

Dielectric Strength 510 VAC between isolated circuits for 1 minute with a leakage current of 5 mA max.Applicable Standards cULus, EU: EN 61326, RCM, KC, EAC

ItemSpecification (CK3W-)

AX1414N AX1414P AX1515N AX1515PAddress setting range 0 to F

Number of channels 4 channels/Unit

Encoder power supply output 5 VDC 500 mA/channel or lessHowever, the total output current of each Unit is 1 A or less.

Digital quadrature encoder inputInput form Line receiver input

Maximum response frequency Phases A, B, and C: 10 MHz

Serial encoder input Supported protocol Contact your OMRON representative for information on the support protocols.

Digital Hall sensor 4 points/channel (U, V, W, T)

OUTFlagB output 1 point/channel

Analog output

Method FilteredPWM type TrueDAC type

Number of points 1 point/channel 2 points/channel

Output range Between DACA+/DACB+ and DACA-/DACB-: -20 to 20 VBetween DACA+/DACB+ and AGND: -10 to 10 V

Pulse output

Output form Line driver output

Output method Pulse output + directional output, or phase difference output

Maximum output frequency 10 MHz

Amp enable output 1 point/channel

Fault input 1 point/channel

FlagsDigital input 4 points/channel (HOME, PLIM, NLIM, USER)

Digital output 1 point/channel (EQU)

General digital I/ONumber of points 16 inputs, 16 outputs

Internal common NPN PNP NPN PNP

Power consumption 5 VDC: 4.5 W max.24 VDC: 10.8 W max.5 VDC: 4.5 W max.24 VDC: 12.5 W max.

Dimensions (height × depth × width) 90(H)/80(D)/130(W)

Weight 520 g max.


AX1313N AX1313P AX2323N AX2323PAddress setting range 0 to F

Number of channels 4 channels/Unit

Encoder power supply output 5 VDC 500 mA/channel or lessHowever, the total output current of each Unit is 1 A or less.

Digital quadrature encoder inputInput form Line receiver input

---Maximum response frequency Phases A, B, and C: 10 MHz

Serial encoder input Supported protocol Contact your OMRON representative for information on the support protocols.


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Sinusoidal encoder inputInput signal

---1-Vpp SIN/COS signal

Maximum input frequency 2 MHz

Digital Hall sensor 4 points/channel (U, V, W, T)

DirectPWM output Amplifier interface unique to Delta Tau

Amp enable output 1 point/channel (built into DirectPWM)

Fault input 1 point/channel (built into DirectPWM)

FlagsDigital input 4 points/channel (HOME, PLIM, NLIM, USER)

Digital output 1 point/channel (EQU)

General digital I/ONumber of points 16 inputs, 16 outputs

Internal common NPN PNP NPN PNP

Power consumption 5 VDC: 3.4 W max.24 VDC: 12.5 W max.5 VDC: 3.0 W max.24 VDC: 13.1 W max.

Dimensions (height × depth × width) 90(H)/80(D)/130(W)

Weight 480 g max. 490 g max.


AX1313N AX1313P AX2323N AX2323P

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CK3W Axial Interface UnitDedicated Cable for Wiring to Encoder ConnectorThe dedicated cables for wiring to the encoder connector are provided as an option.The encoder connection side has discrete wires. Wire in accordance with the encoder specifications.

*1. Inside the connector, Pin 1 and Pin 5 are short-circuited.*2. Inside the connector, Pin 6 and Pin 10 are short-circuited.Note: The cable shield is connected to the connector shell of the encoder connector.

When using this cable, set to OutFlagD = 1, and disable the serial encoder DAT terminating resistance.

Note: The cable shield consists of an overall shield and pair shields.The overall shield is connected to the connector shell of the encoder connector.The pair shields are connected to the Encoder Power Supply (GND) pin.

Type Pin No. Cable color Mark Signal

Pair 111 Blue Black Encoder Power Supply (+5 VDC)

13 Blue Red Encoder Power Supply (GND)

Pair 21, 5 *1 Pink Black Encoder A+Serial Encoder DAT+

6, 10 *2 Pink Red Encoder A-Serial Encoder DAT-

Pair 32 Green Black Encoder B+

7 Green Red Encoder B-

Pair 43 Orange Black Encoder C+

8 Orange Red Encoder C-

Pair 515 Gray Black OutFlagB

14 Gray Red GND

Type Pin No. Cable color Signal

Pair 111 Black Encoder Power Supply (+5 VDC)

13 Blue Encoder Power Supply (GND)

Pair 21 Black SIN+

6 Red SIN-

Pair 32 Black COS+

7 White COS-

Pair 43 Black INDEX+

8 Green INDEX-

10

3000 35

24AWG x 5 Pairs6

1

5

10

15

11

Shield

For digital quadrature encoder CK3W-CAED03A

For Sinusoidal Encoder

Shield10

3,000 35

24AWG x 4 Pairs6

1

510

15

11


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Note: The cable shield is connected to the connector shell of the encoder connector.

Cable 1


Cable 2




Pair 24 Pink Black Encoder CLK+

9 Pink Red Encoder CLK-

Pair 35 Green Black Serial Encoder DAT+

10 Green Red Serial Encoder DAT-




Pair 21 Pink Black Encoder A+

6 Pink Red Encoder A-

Pair 32 Green Black Encoder B+

7 Green Red Encoder B-

Pair 43 Orange Black Encoder C+

8 Orange Red Encoder C-

Type Pin No. Cable color MarkSignal

U, V, W Serial Encoder



Pair 24 Pink Black Hall sensor U Serial Encoder CLK+

9 Pink Red Hall sensor V Serial Encoder CLK-

Overall shield

Pair shield

For Serial Encoder

Shield10

3000 35

24AWG x 3 Pairs6

1

510

15

11

For “Digital Quadrature Encoder + UVW Signal” or “Digital Quadrature Encoder + Serial Encoder”Shield

Shield

Cable 1

Cable 2

3,000 3510

10

24AWG × 4 Pairs

24AWG × 3 Pairs

61

510

15

11

9



Cable 1

Note: The cable shield consists of an overall shield and pair shields.The overall shield is connected to the connector shell of the encoder connector.The pair shields are connected to the Encoder Power Supply (GND) pin.

Cable 2


Pair 35 Green Black Hall sensor W Serial Encoder DAT+

10 Green Red Hall sensor T Serial Encoder DAT-

Type Pin No. Cable color Signal

Pair 111 Black Encoder Power Supply (+5 VDC)

13 Blue Encoder Power Supply (GND)

Pair 21 Black SIN+

6 Red SIN-

Pair 32 Black COS+

7 White COS-

Pair 43 Black INDEX+

8 Green INDEX-

Type Pin No. Cable colorSignal


Pair 112 Blue Encoder Power Supply (+5 VDC)

14 White Encoder Power Supply (GND)

Pair 24 Black Hall sensor U Serial Encoder CLK+

9 Green Hall sensor V Serial Encoder CLK-

Pair 35 Yellow Hall sensor W Serial Encoder DAT+

10 Brown Hall sensor T Serial Encoder DAT-

Type Pin No. Cable color MarkSignal


For “Sinusoidal Encoder + UVW Signal” or “Sinusoidal Encoder + Serial Encoder”

Shield

Shield

Cable 1

Cable 2

3,000 3510

10

24AWG × 4 Pairs

24AWG × 3 Pairs

61

510

15

11

Overall shield

Pair shield


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Dedicated Cable for Wiring to Amplifier ConnectorFor FilteredPWM/TrueDAC typeThis section describes the cable used for the CK3W-AX1414@/-AX1515@ Units.The dedicated cable for wiring to the FilteredPWM/TrueDAC type amplifier connector is provided as an option.The amplifier connection side has discrete wires. Wire in accordance with the Servo Drive specifications.The cable model is as shown below.

Note: The cable shield is connected to the connector shell of the amplifier connector.

For DirectPWM typeThis section describes cables used for the CK3W-AX1313@/-AX2323@ Units.Be sure to use the following cables for the DirectPWM type amplifier connector.

Type Model Length

For FilteredPWM/TrueDAC type CK3W-CAA03A 3 m


Pair 11 Blue Black 1 dot Analog output A+

9 Blue Red 1 dot Analog output A-

Pair 22 Pink Black 1 dot Analog output B+

10 Pink Red 1 dot Analog output B-

Pair 33 Green Black 1 dot Analog GND

3 Green Red 1 dot Analog GND

Pair 45 Orange Black 1 dot Pulse output +

12 Orange Red 1 dot Pulse output -

Pair 56 Gray Black 1 dot Directional output +

13 Gray Red 1 dot Directional output -

Pair 6Blue Black 2 dot Fault input +

11 Blue Red 2 dot Fault input -

Pair 77 Pink Black 2 dot Amp enable NO

15 Pink Red 2 dot Amp enable common

Pair 88 Green Black 2 dot Amp enable NC

15 Green Red 2 dot Amp enable common

Type Model Length

For DirectPWM type

CK3W-CAAD009A 0.9 m

CK3W-CAAD018A 1.8 m

CK3W-CAAD036A 3.6 m

10

3000 35

1

8

9

15

Shield24AWG x 8 Pairs

L

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CK3W Axial Interface UnitPart Names and FunctionsCK3W-AX1414@/-AX1515@

CK3W-AX1313@/-AX2323@

Letter Name Function

A Slider Holds the Units together.

B Power supply status indicator Shows the power supply status.

C Amp enable status indicator Shows the Amp enable status.

D Encoder connector Connects the encoder.

E General digital input/output status indicator Shows the general digital input/output status.

F General digital I/O connection terminal block Connects the general digital input/output.

G Unit connector Connector that connects to the Unit.

H Amplifier connector Connects the amplifier.

I DIN Track mounting hook Used to mount the Unit to a DIN Track.

J Flag connection terminal block Connects the HOME/PLIM/NLIM/USER inputs and EQU output.

K Address switch Sets the Gate3 Index.

(F)

(G)

(H)(I)

(J)

(K)

(A) (B) (C) (D) (E)

IN0 1 2 3 4 5 6 78 9 10 11 12 13 14 150 1 2 3 4 5 6 78 9 10 11 12 13 14 15

OUT

(E)

IN0 1 2 3 4 5 6 78 9 10 11 12 13 14 150 1 2 3 4 5 6 78 9 10 11 12 13 14 15

OUT

(A)

(K)

(J)

(I) (H)

(B) (C) (D)

(G)

(F)


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Letter Name Function

A Slider Holds the Units together.

B Power supply status indicator Shows the power supply status.

C Amp enable status indicator Shows the Amp enable status.

D Encoder connector Connects the encoder.

E General digital input/output status indicator Shows the general digital input/output status.

F General digital I/O connection terminal block Connects the general digital input/output.

G Unit connector Connector that connects to the Unit.

H Amplifier connector Connects the amplifier.

I DIN Track mounting hook Used to mount the Unit to a DIN Track.

J Flag connection terminal block Connects the HOME/PLIM/NLIM/USER inputs and EQU output.

K Address switch Sets the Gate3 Index.

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CK3W Axial Interface UnitDimensions (Unit: mm)Axis Interface Unit

Axis Interface Unit

Installation HeightFor CK3W-AX Unit

Model Unit width (mm)CK3W-AX1313N

130

CK3W-AX1414N

CK3W-AX1515N

CK3W-AX2323N

CK3W-AX1313P

CK3W-AX1414P

CK3W-AX1515P

CK3W-AX2323P

8090

130

IN0 1 2 3 4 5 6 78 9 10 11 12 13 14 150 1 2 3 4 5 6 78 9 10 11 12 13 14 15

OUT

185mm

80mm


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Related ManualsThe following manuals are related. Use these manuals for reference. Contact your OMRON representative for information on how to procure these manuals.

Manual name Cat. No. Application Description

CK3M-series Programmable Multi-Axis Controller Hardware User’s Manual O036

Learning the basic specifications of the CK3M-series Programma-ble Multi-Axis Controller, including introductory information, design, installation, and maintenance.Mainly hardware information is provided.

An introduction to the entire system is provided along with the fol-lowing information.• Features and system configuration• Introduction• Part names and functions• General specifications• Installation and wiring• Maintenance and inspection

Power PMAC User’s Manual O014

Learning the features and usage examples of the CK3M-series Programmable Multi- Axis Con-troller.

The following information is provided on the CK3M-series Pro-grammable Multi-Axis Controller.• Basic functions• Setup examples• Programming examples

Power PMAC Software Reference Manual O015Learning how to program a CK3M-series Programmable Multi-Axis Controller.

The following information is provided on the CK3M-series Pro-grammable Multi-Axis Controller.• Details of commands• Details of data structure

Power PMAC IDE User Manual O016

Learning how to operate Power PMAC IDE, the integrated devel-opment environment of the Con-troller.

Describes the operating procedures of Power PMAC IDE, and examples of how to start the system.

Power PMAC-NC-16 Quick Start Manual O017 Briefly understanding the basic usage of Power PMAC-NC16.Describes the Quick setup procedure to run Power PMAC-NC16 on a desktop PC by showing some examples.

Power PMAC-NC16 .ini Configuration Man-ual O018

Configuring an application for CNC devices by using Power PMAC-NC16.

Describes how to set up PowerPmacNC.ini, the setup data file to be loaded when Power PMAC-NC16 starts.

Power PMAC-NC16 Software User Manual O019

Learning about usage and fea-tures of Power PMAC-NC16, Sup-port Software required to use the Controller for CNC devices.

The following information is provided on Power PMAC-NC16.• How to use the software• Features included in the software• Features that can be customized

Power PMAC-NC16 Mill G-Code Manual O020 Creating programs for CNC devic-es by using Power PMAC-NC16.Describes the basic G-code set that can be used for Power PMAC-NC16, and relevant instructions.

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Documents

CK3W Axial Interface Unit CK3W-AX@@@@@ · C CK3W-EXM01 Expansion Master Unit. Connect this Unit adjacent to the right side of the CPU Unit in the Expansion Rack. D CK3W-AX Unit Axis